Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available. More...

#include <message_filter.h>

Inheritance diagram for tf2_ros::MessageFilter< M >:

[legend]

Classes
struct	CBQueueCallback

struct	MessageInfo

Public Types
typedef boost::function< void(const MConstPtr &, FilterFailureReason)>	FailureCallback

typedef boost::signals2::signal< void(const MConstPtr &, FilterFailureReason)>	FailureSignal

typedef boost::shared_ptr< M const >	MConstPtr

typedef ros::MessageEvent< M const >	MEvent

Public Types inherited from tf2_ros::MessageFilterBase
typedef std::vector< std::string >	V_string

Public Types inherited from message_filters::SimpleFilter< M >
typedef boost::function< void(const MConstPtr &)>	Callback

typedef boost::function< void(const EventType &)>	EventCallback

typedef ros::MessageEvent< M const >	EventType

typedef boost::shared_ptr< M const >	MConstPtr

Public Member Functions
void	add (const MConstPtr &message)
	Manually add a message into this filter. More...

void	add (const MEvent &evt)

void	clear ()
	Clear any messages currently in the queue. More...

template<class F >
void	connectInput (F &f)
	Connect this filter's input to another filter's output. If this filter is already connected, disconnects first. More...

virtual uint32_t	getQueueSize ()

std::string	getTargetFramesString ()
	Get the target frames as a string for debugging. More...

template<class F >
	MessageFilter (F &f, tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, const ros::NodeHandle &nh)
	Constructor. More...

template<class F >
	MessageFilter (F &f, tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, ros::CallbackQueueInterface *cbqueue)
	Constructor. More...

	MessageFilter (tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, const ros::NodeHandle &nh)
	Constructor. More...

	MessageFilter (tf2::BufferCore &bc, const std::string &target_frame, uint32_t queue_size, ros::CallbackQueueInterface *cbqueue)
	Constructor. More...

message_filters::Connection	registerFailureCallback (const FailureCallback &callback)
	Register a callback to be called when a message is about to be dropped. More...

virtual void	setQueueSize (uint32_t new_queue_size)

void	setTargetFrame (const std::string &target_frame)
	Set the frame you need to be able to transform to before getting a message callback. More...

void	setTargetFrames (const V_string &target_frames)
	Set the frames you need to be able to transform to before getting a message callback. More...

void	setTolerance (const ros::Duration &tolerance)
	Set the required tolerance for the notifier to return true. More...

	~MessageFilter ()
	Destructor. More...

Public Member Functions inherited from tf2_ros::MessageFilterBase
virtual	~MessageFilterBase ()

Public Member Functions inherited from message_filters::SimpleFilter< M >
const std::string &	getName ()

Connection	registerCallback (const boost::function< void(P)> &callback)

Connection	registerCallback (const C &callback)

Connection	registerCallback (void(*callback)(P))

Connection	registerCallback (void(T::callback)(P), T t)

void	setName (const std::string &name)

Private Types
typedef std::list< MessageInfo >	L_MessageInfo

typedef std::vector< tf2::TransformableRequestHandle >	V_TransformableRequestHandle

Private Member Functions
void	checkFailures ()

void	disconnectFailure (const message_filters::Connection &c)

void	incomingMessage (const ros::MessageEvent< M const > &evt)
	Callback that happens when we receive a message on the message topic. More...

void	init ()

void	messageDropped (const MEvent &evt, FilterFailureReason reason)

void	messageReady (const MEvent &evt)

void	signalFailure (const MEvent &evt, FilterFailureReason reason)

void	transformable (tf2::TransformableRequestHandle request_handle, const std::string &, const std::string &, ros::Time, tf2::TransformableResult result)

Static Private Member Functions
static std::string	stripSlash (const std::string &in)

Private Attributes
tf2::BufferCore &	bc_
	The Transformer used to determine if transformation data is available. More...

tf2::TransformableCallbackHandle	callback_handle_

ros::CallbackQueueInterface *	callback_queue_

boost::shared_mutex	cbqueue_mutex_
	A mutex protecting calls from callback queues. More...

uint64_t	dropped_message_count_

uint32_t	expected_success_count_

uint64_t	failed_out_the_back_count_

FailureSignal	failure_signal_

boost::mutex	failure_signal_mutex_

uint64_t	incoming_message_count_

std::string	last_out_the_back_frame_

ros::Time	last_out_the_back_stamp_

message_filters::Connection	message_connection_

uint32_t	message_count_
	The number of messages in the list. Used because <container>.size() may have linear cost. More...

L_MessageInfo	messages_

boost::shared_mutex	messages_mutex_
	The mutex used for locking message list operations. More...

ros::WallTime	next_failure_warning_

uint32_t	queue_size_
	The maximum number of messages we queue up. More...

uint64_t	successful_transform_count_

V_string	target_frames_
	The frames we need to be able to transform to before a message is ready. More...

boost::mutex	target_frames_mutex_
	A mutex to protect access to the target_frames_ list and target_frames_string. More...

std::string	target_frames_string_

ros::Duration	time_tolerance_
	Provide additional tolerance on time for messages which are stamped but can have associated duration. More...

uint64_t	transform_message_count_

bool	warned_about_empty_frame_id_

Additional Inherited Members
Protected Member Functions inherited from message_filters::SimpleFilter< M >
void	signalMessage (const MConstPtr &msg)

void	signalMessage (const ros::MessageEvent< M const > &event)

Detailed Description

template<class M>
class tf2_ros::MessageFilter< M >

Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available.

The callbacks used in this class are of the same form as those used by roscpp's message callbacks.

MessageFilter is templated on a message type.

Example Usage

If you want to hook a MessageFilter into a ROS topic:

message_filters::Subscriber<MessageType> sub(node_handle_, "topic", 10);
tf2_ros::MessageFilter<MessageType> tf_filter(sub, tf_buffer_, "/map", 10, 0);
tf_filter.registerCallback(&MyClass::myCallback, this);

Definition at line 104 of file message_filter.h.

Member Typedef Documentation

◆ FailureCallback

template<class M >

typedef boost::function<void(const MConstPtr&, FilterFailureReason)> tf2_ros::MessageFilter< M >::FailureCallback

Definition at line 109 of file message_filter.h.

◆ FailureSignal

template<class M >

typedef boost::signals2::signal<void(const MConstPtr&, FilterFailureReason)> tf2_ros::MessageFilter< M >::FailureSignal

Definition at line 110 of file message_filter.h.

◆ L_MessageInfo

template<class M >

typedef std::list<MessageInfo> tf2_ros::MessageFilter< M >::L_MessageInfo

private

Definition at line 688 of file message_filter.h.

◆ MConstPtr

template<class M >

typedef boost::shared_ptr<M const> tf2_ros::MessageFilter< M >::MConstPtr

Definition at line 107 of file message_filter.h.

◆ MEvent

template<class M >

typedef ros::MessageEvent<M const> tf2_ros::MessageFilter< M >::MEvent

Definition at line 108 of file message_filter.h.

◆ V_TransformableRequestHandle

template<class M >

typedef std::vector<tf2::TransformableRequestHandle> tf2_ros::MessageFilter< M >::V_TransformableRequestHandle

private

Definition at line 677 of file message_filter.h.

Constructor & Destructor Documentation

◆ MessageFilter() [1/4]

template<class M >

tf2_ros::MessageFilter< M >::MessageFilter	(	tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)

inline

Constructor.

Parameters

bc	The tf2::BufferCore this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
nh	The NodeHandle whose callback queue we should add callbacks to

Definition at line 126 of file message_filter.h.

◆ MessageFilter() [2/4]

template<class M >

template<class F >

tf2_ros::MessageFilter< M >::MessageFilter	(	F &	f,
		tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		const ros::NodeHandle &	nh
	)

inline

Constructor.

Parameters

f	The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
bc	The tf2::BufferCore this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
nh	The NodeHandle whose callback queue we should add callbacks to

Definition at line 146 of file message_filter.h.

◆ MessageFilter() [3/4]

template<class M >

tf2_ros::MessageFilter< M >::MessageFilter	(	tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbqueue
	)

inline

Constructor.

Parameters

bc	The tf2::BufferCore this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
cbqueue	The callback queue to add callbacks to. If NULL, callbacks will happen from whatever thread either a) add() is called, which will generally be when the previous filter in the chain outputs a message, or b) tf2::BufferCore::setTransform() is called

Definition at line 168 of file message_filter.h.

◆ MessageFilter() [4/4]

template<class M >

template<class F >

tf2_ros::MessageFilter< M >::MessageFilter	(	F &	f,
		tf2::BufferCore &	bc,
		const std::string &	target_frame,
		uint32_t	queue_size,
		ros::CallbackQueueInterface *	cbqueue
	)

inline

Constructor.

Parameters

f	The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
bc	The tf2::BufferCore this filter should use
target_frame	The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
queue_size	The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
cbqueue	The callback queue to add callbacks to. If NULL, callbacks will happen from whatever thread either a) add() is called, which will generally be when the previous filter in the chain outputs a message, or b) tf2::BufferCore::setTransform() is called

Definition at line 190 of file message_filter.h.

◆ ~MessageFilter()

template<class M >

tf2_ros::MessageFilter< M >::~MessageFilter ( )

inline

Destructor.

Definition at line 215 of file message_filter.h.

Member Function Documentation

◆ add() [1/2]

template<class M >

void tf2_ros::MessageFilter< M >::add ( const MConstPtr & message )

inline

Manually add a message into this filter.

Note: If the message (or any other messages in the queue) are immediately transformable this will immediately call through to the output callback, possibly multiple times

Definition at line 413 of file message_filter.h.

◆ add() [2/2]

template<class M >

void tf2_ros::MessageFilter< M >::add ( const MEvent & evt )

inline

Definition at line 297 of file message_filter.h.

◆ checkFailures()

template<class M >

void tf2_ros::MessageFilter< M >::checkFailures ( )

inlineprivate

Definition at line 559 of file message_filter.h.

◆ clear()

template<class M >

void tf2_ros::MessageFilter< M >::clear ( )

inlinevirtual

Clear any messages currently in the queue.

Implements tf2_ros::MessageFilterBase.

Definition at line 279 of file message_filter.h.

◆ connectInput()

template<class M >

template<class F >

void tf2_ros::MessageFilter< M >::connectInput ( F & f )

inline

Connect this filter's input to another filter's output. If this filter is already connected, disconnects first.

Definition at line 206 of file message_filter.h.

◆ disconnectFailure()

template<class M >

void tf2_ros::MessageFilter< M >::disconnectFailure ( const message_filters::Connection & c )

inlineprivate

Definition at line 645 of file message_filter.h.

◆ getQueueSize()

template<class M >

virtual uint32_t tf2_ros::MessageFilter< M >::getQueueSize ( )

inlinevirtual

Definition at line 437 of file message_filter.h.

◆ getTargetFramesString()

template<class M >

std::string tf2_ros::MessageFilter< M >::getTargetFramesString ( )

inline

Get the target frames as a string for debugging.

Definition at line 260 of file message_filter.h.

◆ incomingMessage()

template<class M >

void tf2_ros::MessageFilter< M >::incomingMessage ( const ros::MessageEvent< M const > & evt )

inlineprivate

Callback that happens when we receive a message on the message topic.

Definition at line 554 of file message_filter.h.

◆ init()

template<class M >

void tf2_ros::MessageFilter< M >::init ( )

inlineprivate

Definition at line 445 of file message_filter.h.

◆ messageDropped()

template<class M >

void tf2_ros::MessageFilter< M >::messageDropped	(	const MEvent &	evt,
		FilterFailureReason	reason
	)

inlineprivate

Definition at line 619 of file message_filter.h.

◆ messageReady()

template<class M >

void tf2_ros::MessageFilter< M >::messageReady ( const MEvent & evt )

inlineprivate

Definition at line 632 of file message_filter.h.

◆ registerFailureCallback()

template<class M >

message_filters::Connection tf2_ros::MessageFilter< M >::registerFailureCallback ( const FailureCallback & callback )

inline

Register a callback to be called when a message is about to be dropped.

Parameters

callback The callback to call

Definition at line 426 of file message_filter.h.

◆ setQueueSize()

template<class M >

virtual void tf2_ros::MessageFilter< M >::setQueueSize ( uint32_t new_queue_size )

inlinevirtual

Definition at line 432 of file message_filter.h.

◆ setTargetFrame()

template<class M >

void tf2_ros::MessageFilter< M >::setTargetFrame ( const std::string & target_frame )

inlinevirtual

Set the frame you need to be able to transform to before getting a message callback.

Implements tf2_ros::MessageFilterBase.

Definition at line 232 of file message_filter.h.

◆ setTargetFrames()

template<class M >

void tf2_ros::MessageFilter< M >::setTargetFrames ( const V_string & target_frames )

inlinevirtual

Set the frames you need to be able to transform to before getting a message callback.

Implements tf2_ros::MessageFilterBase.

Definition at line 242 of file message_filter.h.

◆ setTolerance()

template<class M >

void tf2_ros::MessageFilter< M >::setTolerance ( const ros::Duration & tolerance )

inlinevirtual

Set the required tolerance for the notifier to return true.

Implements tf2_ros::MessageFilterBase.

Definition at line 269 of file message_filter.h.

◆ signalFailure()

template<class M >

void tf2_ros::MessageFilter< M >::signalFailure	(	const MEvent &	evt,
		FilterFailureReason	reason
	)

inlineprivate

Definition at line 651 of file message_filter.h.

◆ stripSlash()

template<class M >

static std::string tf2_ros::MessageFilter< M >::stripSlash ( const std::string & in )

inlinestaticprivate

Definition at line 658 of file message_filter.h.

◆ transformable()

template<class M >

void tf2_ros::MessageFilter< M >::transformable	(	tf2::TransformableRequestHandle	request_handle,
		const std::string &	,
		const std::string &	,
		ros::Time	,
		tf2::TransformableResult	result
	)

inlineprivate

Definition at line 460 of file message_filter.h.

Member Data Documentation

◆ bc_

template<class M >

tf2::BufferCore& tf2_ros::MessageFilter< M >::bc_

private

The Transformer used to determine if transformation data is available.

Definition at line 669 of file message_filter.h.

◆ callback_handle_

template<class M >

tf2::TransformableCallbackHandle tf2_ros::MessageFilter< M >::callback_handle_

private

Definition at line 675 of file message_filter.h.

◆ callback_queue_

template<class M >

ros::CallbackQueueInterface* tf2_ros::MessageFilter< M >::callback_queue_

private

Definition at line 714 of file message_filter.h.

◆ cbqueue_mutex_

template<class M >

boost::shared_mutex tf2_ros::MessageFilter< M >::cbqueue_mutex_

private

A mutex protecting calls from callback queues.

Definition at line 673 of file message_filter.h.

◆ dropped_message_count_

template<class M >

uint64_t tf2_ros::MessageFilter< M >::dropped_message_count_

private

Definition at line 700 of file message_filter.h.

◆ expected_success_count_

template<class M >

uint32_t tf2_ros::MessageFilter< M >::expected_success_count_

private

Definition at line 692 of file message_filter.h.

◆ failed_out_the_back_count_

template<class M >

uint64_t tf2_ros::MessageFilter< M >::failed_out_the_back_count_

private

Definition at line 697 of file message_filter.h.

◆ failure_signal_

template<class M >

FailureSignal tf2_ros::MessageFilter< M >::failure_signal_

private

Definition at line 711 of file message_filter.h.

◆ failure_signal_mutex_

template<class M >

boost::mutex tf2_ros::MessageFilter< M >::failure_signal_mutex_

private

Definition at line 712 of file message_filter.h.

◆ incoming_message_count_

template<class M >

uint64_t tf2_ros::MessageFilter< M >::incoming_message_count_

private

Definition at line 699 of file message_filter.h.

◆ last_out_the_back_frame_

template<class M >

std::string tf2_ros::MessageFilter< M >::last_out_the_back_frame_

private

Definition at line 703 of file message_filter.h.

◆ last_out_the_back_stamp_

template<class M >

ros::Time tf2_ros::MessageFilter< M >::last_out_the_back_stamp_

private

Definition at line 702 of file message_filter.h.

◆ message_connection_

template<class M >

message_filters::Connection tf2_ros::MessageFilter< M >::message_connection_

private

Definition at line 709 of file message_filter.h.

◆ message_count_

template<class M >

uint32_t tf2_ros::MessageFilter< M >::message_count_

private

The number of messages in the list. Used because <container>.size() may have linear cost.

Definition at line 690 of file message_filter.h.

◆ messages_

template<class M >

L_MessageInfo tf2_ros::MessageFilter< M >::messages_

private

Definition at line 689 of file message_filter.h.

◆ messages_mutex_

template<class M >

boost::shared_mutex tf2_ros::MessageFilter< M >::messages_mutex_

private

The mutex used for locking message list operations.

Definition at line 691 of file message_filter.h.

◆ next_failure_warning_

template<class M >

ros::WallTime tf2_ros::MessageFilter< M >::next_failure_warning_

private

Definition at line 705 of file message_filter.h.

◆ queue_size_

template<class M >

uint32_t tf2_ros::MessageFilter< M >::queue_size_

private

The maximum number of messages we queue up.

Definition at line 674 of file message_filter.h.

◆ successful_transform_count_

template<class M >

uint64_t tf2_ros::MessageFilter< M >::successful_transform_count_

private

Definition at line 696 of file message_filter.h.

◆ target_frames_

template<class M >

V_string tf2_ros::MessageFilter< M >::target_frames_

private

The frames we need to be able to transform to before a message is ready.

Definition at line 670 of file message_filter.h.

◆ target_frames_mutex_

template<class M >

boost::mutex tf2_ros::MessageFilter< M >::target_frames_mutex_

private

A mutex to protect access to the target_frames_ list and target_frames_string.

Definition at line 672 of file message_filter.h.

◆ target_frames_string_

template<class M >

std::string tf2_ros::MessageFilter< M >::target_frames_string_

private

Definition at line 671 of file message_filter.h.

◆ time_tolerance_

template<class M >

ros::Duration tf2_ros::MessageFilter< M >::time_tolerance_

private

Provide additional tolerance on time for messages which are stamped but can have associated duration.

Definition at line 707 of file message_filter.h.

◆ transform_message_count_

template<class M >

uint64_t tf2_ros::MessageFilter< M >::transform_message_count_

private

Definition at line 698 of file message_filter.h.

◆ warned_about_empty_frame_id_

template<class M >

bool tf2_ros::MessageFilter< M >::warned_about_empty_frame_id_

private

Definition at line 694 of file message_filter.h.

The documentation for this class was generated from the following file:

message_filter.h

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class M> class tf2_ros::MessageFilter< M >

Example Usage

Member Typedef Documentation

◆ FailureCallback

◆ FailureSignal

◆ L_MessageInfo

◆ MConstPtr

◆ MEvent

◆ V_TransformableRequestHandle

Constructor & Destructor Documentation

◆ MessageFilter() [1/4]

◆ MessageFilter() [2/4]

◆ MessageFilter() [3/4]

◆ MessageFilter() [4/4]

◆ ~MessageFilter()

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ checkFailures()

◆ clear()

◆ connectInput()

◆ disconnectFailure()

◆ getQueueSize()

◆ getTargetFramesString()

◆ incomingMessage()

◆ init()

◆ messageDropped()

◆ messageReady()

◆ registerFailureCallback()

◆ setQueueSize()

◆ setTargetFrame()

◆ setTargetFrames()

◆ setTolerance()

◆ signalFailure()

◆ stripSlash()

◆ transformable()

Member Data Documentation

◆ bc_

◆ callback_handle_

◆ callback_queue_

◆ cbqueue_mutex_

◆ dropped_message_count_

◆ expected_success_count_

◆ failed_out_the_back_count_

◆ failure_signal_

◆ failure_signal_mutex_

◆ incoming_message_count_

◆ last_out_the_back_frame_

◆ last_out_the_back_stamp_

◆ message_connection_

◆ message_count_

◆ messages_

◆ messages_mutex_

◆ next_failure_warning_

◆ queue_size_

◆ successful_transform_count_

◆ target_frames_

◆ target_frames_mutex_

◆ target_frames_string_

◆ time_tolerance_

◆ transform_message_count_

◆ warned_about_empty_frame_id_

template<class M>
class tf2_ros::MessageFilter< M >